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YoshiRiYoshiRi
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feat(camera_lidar_fusion): enable to use camera 8,9,10 in image_projection_based_fusion nodes (#1697)
* fix: x2 gen2 use image_raw instaed image_rect_color Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * feat: enable 9 camera fusion in perception and detection launch Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * feat: fix camera_lidar_detector launch Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * feat: fix launch for 9 input Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * feat: fix missed launcher Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> --------- Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
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8 files changed

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‎launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml

+11-1
Original file line numberDiff line numberDiff line change
@@ -27,7 +27,9 @@
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<arg name="camera_info6" default=""/>
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<arg name="image_raw7" default=""/>
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<arg name="camera_info7" default=""/>
30-
<arg name="image_number" default="1" description="choose image raw number(1-8)"/>
30+
<arg name="image_raw8" default=""/>
31+
<arg name="camera_info8" default=""/>
32+
<arg name="image_number" default="1" description="choose image raw number"/>
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3234
<!-- Radar parameters -->
3335
<arg name="input/radar" default="/sensing/radar/detected_objects"/>
@@ -53,6 +55,8 @@
5355
<arg name="camera_info6" value="$(var camera_info6)"/>
5456
<arg name="image_raw7" value="$(var image_raw7)"/>
5557
<arg name="camera_info7" value="$(var camera_info7)"/>
58+
<arg name="image_raw8" value="$(var image_raw8)"/>
59+
<arg name="camera_info8" value="$(var camera_info8)"/>
5660
<arg name="image_number" value="$(var image_number)"/>
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<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
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<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
@@ -103,6 +107,8 @@
103107
<arg name="camera_info6" value="$(var camera_info6)"/>
104108
<arg name="image_raw7" value="$(var image_raw7)"/>
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<arg name="camera_info7" value="$(var camera_info7)"/>
110+
<arg name="image_raw8" value="$(var image_raw8)"/>
111+
<arg name="camera_info8" value="$(var camera_info8)"/>
106112
<arg name="image_number" value="$(var image_number)"/>
107113
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
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<arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
@@ -134,6 +140,8 @@
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<arg name="camera_info6" value="$(var camera_info6)"/>
135141
<arg name="image_raw7" value="$(var image_raw7)"/>
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<arg name="camera_info7" value="$(var camera_info7)"/>
143+
<arg name="image_raw8" value="$(var image_raw8)"/>
144+
<arg name="camera_info8" value="$(var camera_info8)"/>
137145
<arg name="image_number" value="$(var image_number)"/>
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<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
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<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
@@ -171,6 +179,8 @@
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<arg name="camera_info6" value="$(var camera_info6)"/>
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<arg name="image_raw7" value="$(var image_raw7)"/>
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<arg name="camera_info7" value="$(var camera_info7)"/>
182+
<arg name="image_raw8" value="$(var image_raw8)"/>
183+
<arg name="camera_info8" value="$(var camera_info8)"/>
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<arg name="image_number" value="$(var image_number)"/>
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<arg name="use_object_filter" value="$(var use_object_filter)"/>
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<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>

‎launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml

+15-3
Original file line numberDiff line numberDiff line change
@@ -31,11 +31,14 @@
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<arg name="detection_rois5" default="/perception/object_recognition/detection/rois5"/>
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<arg name="image_raw6" default="/image_raw6"/>
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<arg name="camera_info6" default="/camera_info6"/>
34-
<arg name="detection_rois6" default="/perception/object_recognition/detection/rois6"/>
34+
<arg name="detection_rois6" default="/perception/object_recognition/detection/rois8"/>
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<arg name="image_raw7" default="/image_raw7"/>
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<arg name="camera_info7" default="/camera_info7"/>
37-
<arg name="detection_rois7" default="/perception/object_recognition/detection/rois7"/>
38-
<arg name="image_number" default="1" description="choose image raw number(1-8)"/>
37+
<arg name="detection_rois7" default="/perception/object_recognition/detection/rois9"/>
38+
<arg name="image_raw8" default="/image_raw8"/>
39+
<arg name="camera_info8" default="/camera_info8"/>
40+
<arg name="detection_rois8" default="/perception/object_recognition/detection/rois10"/>
41+
<arg name="image_number" default="1" description="choose image raw number"/>
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<!-- Jetson AGX -->
4144
<!-- <include file="$(find-pkg-share tensorrt_yolox)/launch/multiple_yolox.launch.xml">
@@ -70,6 +73,8 @@
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<arg name="input/rois6" value="$(var detection_rois6)"/>
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<arg name="input/camera_info7" value="$(var camera_info7)"/>
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<arg name="input/rois7" value="$(var detection_rois7)"/>
76+
<arg name="input/camera_info8" value="$(var camera_info8)"/>
77+
<arg name="input/rois8" value="$(var detection_rois8)"/>
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<arg name="input/rois_number" value="$(var image_number)"/>
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<arg name="input/image0" value="$(var image_raw0)"/>
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<arg name="input/image1" value="$(var image_raw1)"/>
@@ -79,6 +84,7 @@
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<arg name="input/image5" value="$(var image_raw5)"/>
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<arg name="input/image6" value="$(var image_raw6)"/>
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<arg name="input/image7" value="$(var image_raw7)"/>
87+
<arg name="input/image8" value="$(var image_raw8)"/>
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<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
8389
<arg name="output/objects" value="objects"/>
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<arg name="model_name" value="$(var lidar_detection_model)"/>
@@ -138,6 +144,8 @@
138144
<arg name="input/rois6" value="$(var detection_rois6)"/>
139145
<arg name="input/camera_info7" value="$(var camera_info7)"/>
140146
<arg name="input/rois7" value="$(var detection_rois7)"/>
147+
<arg name="input/camera_info8" value="$(var camera_info8)"/>
148+
<arg name="input/rois8" value="$(var detection_rois8)"/>
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<arg name="input/rois_number" value="$(var image_number)"/>
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<arg name="input/image0" value="$(var image_raw0)"/>
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<arg name="input/image1" value="$(var image_raw1)"/>
@@ -147,6 +155,7 @@
147155
<arg name="input/image5" value="$(var image_raw5)"/>
148156
<arg name="input/image6" value="$(var image_raw6)"/>
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<arg name="input/image7" value="$(var image_raw7)"/>
158+
<arg name="input/image8" value="$(var image_raw8)"/>
150159
<arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
151160
<arg name="output_clusters" value="clusters"/>
152161
<arg name="param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
@@ -194,6 +203,8 @@
194203
<arg name="input/rois6" value="$(var detection_rois6)"/>
195204
<arg name="input/camera_info7" value="$(var camera_info7)"/>
196205
<arg name="input/rois7" value="$(var detection_rois7)"/>
206+
<arg name="input/camera_info8" value="$(var camera_info8)"/>
207+
<arg name="input/rois8" value="$(var detection_rois8)"/>
197208
<arg name="input/rois_number" value="$(var image_number)"/>
198209
<arg name="input/clusters" value="$(var input/clustering)"/>
199210
<arg name="input/image0" value="$(var image_raw0)"/>
@@ -204,6 +215,7 @@
204215
<arg name="input/image5" value="$(var image_raw5)"/>
205216
<arg name="input/image6" value="$(var image_raw6)"/>
206217
<arg name="input/image7" value="$(var image_raw7)"/>
218+
<arg name="input/image8" value="$(var image_raw8)"/>
207219
<arg name="output/clusters" value="clusters"/>
208220
<arg name="param_path" value="$(var roi_cluster_fusion_param_path)"/>
209221
</include>

‎launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml

+3
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@@ -67,6 +67,8 @@
6767
<arg name="input/rois6" value="$(var detection_rois6)"/>
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<arg name="input/camera_info7" value="$(var camera_info7)"/>
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<arg name="input/rois7" value="$(var detection_rois7)"/>
70+
<arg name="input/camera_info8" value="$(var camera_info8)"/>
71+
<arg name="input/rois8" value="$(var detection_rois8)"/>
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<arg name="input/rois_number" value="$(var image_number)"/>
7173
<arg name="input/image0" value="$(var image_raw0)"/>
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<arg name="input/image1" value="$(var image_raw1)"/>
@@ -76,6 +78,7 @@
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<arg name="input/image5" value="$(var image_raw5)"/>
7779
<arg name="input/image6" value="$(var image_raw6)"/>
7880
<arg name="input/image7" value="$(var image_raw7)"/>
81+
<arg name="input/image8" value="$(var image_raw8)"/>
7982
<arg name="input/objects" value="$(var camera_roi_fusion/input/objects)"/>
8083
<arg name="output/objects" value="$(var camera_roi_fusion/output/objects)"/>
8184
<arg name="param_path" value="$(var roi_detected_object_fusion_param_path)"/>

‎launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml

+3
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@@ -90,6 +90,8 @@
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<arg name="input/rois6" value="$(var detection_rois6)"/>
9191
<arg name="input/camera_info7" value="$(var camera_info7)"/>
9292
<arg name="input/rois7" value="$(var detection_rois7)"/>
93+
<arg name="input/camera_info8" value="$(var camera_info8)"/>
94+
<arg name="input/rois8" value="$(var detection_rois8)"/>
9395
<arg name="input/rois_number" value="$(var image_number)"/>
9496
<arg name="input/image0" value="$(var image_raw0)"/>
9597
<arg name="input/image1" value="$(var image_raw1)"/>
@@ -99,6 +101,7 @@
99101
<arg name="input/image5" value="$(var image_raw5)"/>
100102
<arg name="input/image6" value="$(var image_raw6)"/>
101103
<arg name="input/image7" value="$(var image_raw7)"/>
104+
<arg name="input/image8" value="$(var image_raw8)"/>
102105
<arg name="input/objects" value="$(var camera_roi_fusion/input/objects)"/>
103106
<arg name="output/objects" value="$(var camera_roi_fusion/output/objects)"/>
104107
<arg name="param_path" value="$(var roi_detected_object_fusion_param_path)"/>

‎launch/tier4_perception_launch/launch/perception.launch.xml

+18-13
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@@ -48,31 +48,34 @@
4848
<arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
4949
<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
5050
<arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
51-
<arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
51+
<arg name="image_raw0" default="/sensing/camera/camera0/image_raw" description="image raw topic name"/>
5252
<arg name="camera_info0" default="/sensing/camera/camera0/camera_info" description="camera info topic name"/>
5353
<arg name="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>
54-
<arg name="image_raw1" default="/sensing/camera/camera1/image_rect_color"/>
54+
<arg name="image_raw1" default="/sensing/camera/camera1/image_raw"/>
5555
<arg name="camera_info1" default="/sensing/camera/camera1/camera_info"/>
5656
<arg name="detection_rois1" default="/perception/object_recognition/detection/rois1"/>
57-
<arg name="image_raw2" default="/sensing/camera/camera2/image_rect_color"/>
57+
<arg name="image_raw2" default="/sensing/camera/camera2/image_raw"/>
5858
<arg name="camera_info2" default="/sensing/camera/camera2/camera_info"/>
5959
<arg name="detection_rois2" default="/perception/object_recognition/detection/rois2"/>
60-
<arg name="image_raw3" default="/sensing/camera/camera3/image_rect_color"/>
60+
<arg name="image_raw3" default="/sensing/camera/camera3/image_raw"/>
6161
<arg name="camera_info3" default="/sensing/camera/camera3/camera_info"/>
6262
<arg name="detection_rois3" default="/perception/object_recognition/detection/rois3"/>
63-
<arg name="image_raw4" default="/sensing/camera/camera4/image_rect_color"/>
63+
<arg name="image_raw4" default="/sensing/camera/camera4/image_raw"/>
6464
<arg name="camera_info4" default="/sensing/camera/camera4/camera_info"/>
6565
<arg name="detection_rois4" default="/perception/object_recognition/detection/rois4"/>
66-
<arg name="image_raw5" default="/sensing/camera/camera5/image_rect_color"/>
66+
<arg name="image_raw5" default="/sensing/camera/camera5/image_raw"/>
6767
<arg name="camera_info5" default="/sensing/camera/camera5/camera_info"/>
6868
<arg name="detection_rois5" default="/perception/object_recognition/detection/rois5"/>
69-
<arg name="image_raw6" default="/sensing/camera/camera6/image_rect_color"/>
70-
<arg name="camera_info6" default="/sensing/camera/camera6/camera_info"/>
71-
<arg name="detection_rois6" default="/perception/object_recognition/detection/rois6"/>
72-
<arg name="image_raw7" default="/sensing/camera/camera7/image_rect_color"/>
73-
<arg name="camera_info7" default="/sensing/camera/camera7/camera_info"/>
74-
<arg name="detection_rois7" default="/perception/object_recognition/detection/rois7"/>
75-
<arg name="image_number" default="6" description="choose image raw number(1-8)"/>
69+
<arg name="image_raw6" default="/sensing/camera/camera8/image_raw"/>
70+
<arg name="camera_info6" default="/sensing/camera/camera8/camera_info"/>
71+
<arg name="detection_rois6" default="/perception/object_recognition/detection/rois8"/>
72+
<arg name="image_raw7" default="/sensing/camera/camera9/image_raw"/>
73+
<arg name="camera_info7" default="/sensing/camera/camera9/camera_info"/>
74+
<arg name="detection_rois7" default="/perception/object_recognition/detection/rois9"/>
75+
<arg name="image_raw8" default="/sensing/camera/camera10/image_raw"/>
76+
<arg name="camera_info8" default="/sensing/camera/camera10/camera_info"/>
77+
<arg name="detection_rois8" default="/perception/object_recognition/detection/rois10"/>
78+
<arg name="image_number" default="9" description="choose image raw number"/>
7679
<arg name="use_vector_map" default="true" description="use vector map in prediction"/>
7780
<arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
7881
<arg name="use_low_height_cropbox" default="true" description="use low height crop filter in clustering"/>
@@ -204,6 +207,8 @@
204207
<arg name="camera_info6" value="$(var camera_info6)"/>
205208
<arg name="image_raw7" value="$(var image_raw7)"/>
206209
<arg name="camera_info7" value="$(var camera_info7)"/>
210+
<arg name="image_raw8" value="$(var image_raw8)"/>
211+
<arg name="camera_info8" value="$(var camera_info8)"/>
207212
<arg name="image_number" value="$(var image_number)"/>
208213
<arg name="sync_param_path" value="$(var object_recognition_detection_fusion_sync_param_path)"/>
209214
<arg name="roi_cluster_fusion_param_path" value="$(var object_recognition_detection_roi_cluster_fusion_param_path)"/>

‎perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml

+6
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@@ -16,6 +16,8 @@
1616
<arg name="input/camera_info6" default="/camera_info6"/>
1717
<arg name="input/rois7" default="rois7"/>
1818
<arg name="input/camera_info7" default="/camera_info7"/>
19+
<arg name="input/rois8" default="rois8"/>
20+
<arg name="input/camera_info8" default="/camera_info8"/>
1921
<arg name="input/clusters" default="clusters"/>
2022
<arg name="output/clusters" default="labeled_clusters"/>
2123
<arg name="param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_cluster_fusion.param.yaml"/>
@@ -30,6 +32,7 @@
3032
<arg name="input/image5" default="/image_raw5"/>
3133
<arg name="input/image6" default="/image_raw6"/>
3234
<arg name="input/image7" default="/image_raw7"/>
35+
<arg name="input/image8" default="/image_raw8"/>
3336
<group>
3437
<node pkg="image_projection_based_fusion" exec="roi_cluster_fusion_node" name="roi_cluster_fusion" output="screen">
3538
<param name="rois_number" value="$(var input/rois_number)"/>
@@ -63,6 +66,9 @@
6366
<param name="input/rois7" value="$(var input/rois7)"/>
6467
<param name="input/camera_info7" value="$(var input/camera_info7)"/>
6568
<param name="input/image7" value="$(var input/image7)"/>
69+
<param name="input/rois8" value="$(var input/rois8)"/>
70+
<param name="input/camera_info8" value="$(var input/camera_info8)"/>
71+
<param name="input/image8" value="$(var input/image8)"/>
6672
</node>
6773
</group>
6874
</launch>

‎perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml

+6
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@@ -16,6 +16,8 @@
1616
<arg name="input/camera_info6" default="/camera_info6"/>
1717
<arg name="input/rois7" default="rois7"/>
1818
<arg name="input/camera_info7" default="/camera_info7"/>
19+
<arg name="input/rois8" default="rois8"/>
20+
<arg name="input/camera_info8" default="/camera_info8"/>
1921
<arg name="input/objects" default="objects"/>
2022
<arg name="output/objects" default="fused_objects"/>
2123
<arg name="param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_detected_object_fusion.param.yaml"/>
@@ -33,6 +35,7 @@
3335
<arg name="input/image5" default="/image_raw5"/>
3436
<arg name="input/image6" default="/image_raw6"/>
3537
<arg name="input/image7" default="/image_raw7"/>
38+
<arg name="input/image8" default="/image_raw8"/>
3639

3740
<group>
3841
<node pkg="image_projection_based_fusion" exec="roi_detected_object_fusion_node" name="roi_detected_object_fusion" output="screen">
@@ -67,6 +70,9 @@
6770
<param name="input/rois7" value="$(var input/rois7)"/>
6871
<param name="input/camera_info7" value="$(var input/camera_info7)"/>
6972
<param name="input/image7" value="$(var input/image7)"/>
73+
<param name="input/rois8" value="$(var input/rois8)"/>
74+
<param name="input/camera_info8" value="$(var input/camera_info8)"/>
75+
<param name="input/image8" value="$(var input/image8)"/>
7076
</node>
7177
</group>
7278
</launch>

‎perception/image_projection_based_fusion/launch/roi_pointcloud_fusion.launch.xml

+6
Original file line numberDiff line numberDiff line change
@@ -16,6 +16,8 @@
1616
<arg name="input/camera_info6" default="/camera_info6"/>
1717
<arg name="input/rois7" default="rois7"/>
1818
<arg name="input/camera_info7" default="/camera_info7"/>
19+
<arg name="input/rois8" default="rois8"/>
20+
<arg name="input/camera_info8" default="/camera_info8"/>
1921
<arg name="input/pointcloud" default="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
2022
<arg name="output/pointcloud" default="roi_pointcloud_fusion/output/pointcloud"/>
2123
<arg name="output_clusters" default="output_clusters"/>
@@ -33,6 +35,7 @@
3335
<arg name="input/image5" default="/image_raw5"/>
3436
<arg name="input/image6" default="/image_raw6"/>
3537
<arg name="input/image7" default="/image_raw7"/>
38+
<arg name="input/image8" default="/image_raw8"/>
3639
<group>
3740
<node pkg="image_projection_based_fusion" exec="roi_pointcloud_fusion_node" name="roi_pointcloud_fusion" output="screen">
3841
<param name="rois_number" value="$(var input/rois_number)"/>
@@ -68,6 +71,9 @@
6871
<param name="input/rois7" value="$(var input/rois7)"/>
6972
<param name="input/camera_info7" value="$(var input/camera_info7)"/>
7073
<param name="input/image7" value="$(var input/image7)"/>
74+
<param name="input/rois8" value="$(var input/rois8)"/>
75+
<param name="input/camera_info8" value="$(var input/camera_info8)"/>
76+
<param name="input/image8" value="$(var input/image8)"/>
7177
</node>
7278
</group>
7379
</launch>

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